Services work!

pps_ws/src/d_fall_pps/launch/ppsLaunch.launch

@@ -11,11 +11,8 @@
 	</node>
 
 
-
-	<!-- We will need something similar for our Control node(s)
-	<node pkg="d_fall_pps" name="SafeControllerService" output="screen" type="FlightControl">
+	<node pkg="d_fall_pps" name="SafeControllerService" output="screen" type="SafeControllerService">
 	</node>
-	-->
 
 	<!-- When we have a GUI, this has to be adapted and included
 	<node pkg="d_fall_pps" name="GUI" output="screen" type="GUI">

pps_ws/src/d_fall_pps/src/PPSClient.cpp

@@ -206,7 +206,7 @@ int main(int argc, char* argv[]){
 
 
 	//service: now only one available: to add several services depending on controller
-	rateClient = nodeHandle.serviceClient<d_fall_pps::RateController>("/SafeControllerService/RateCommand");
+	rateClient = nodeHandle.serviceClient<d_fall_pps::RateController>("/SafeControllerService/RateController");
 
 
 

pps_ws/src/d_fall_pps/src/SafeControllerService.cpp

@@ -22,6 +22,15 @@
 
 using namespace d_fall_pps;
 
+
+/*TODO:
+request from paul
+Specificy controller in a file
+
+
+
+*/
+
 bool calculateControlOutput(RateController::Request &request, RateController::Response &response) {
     ROS_INFO("calculate control output");